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  <div class="headertitle"><div class="title">master_process.h</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#ifndef MASTER_PROCESS_H</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#define MASTER_PROCESS_H</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;bsp_usart.h&quot;</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;seasky_protocol.h&quot;</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#define VISION_RECV_SIZE 18u </span><span class="comment">// 当前为固定值,36字节</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#define VISION_SEND_SIZE 36u</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#pragma pack(1)</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>    NO_FIRE = 0,</div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    AUTO_FIRE = 1,</div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>    AUTO_AIM = 2</div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>} Fire_Mode_e;</div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    NO_TARGET = 0,</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    TARGET_CONVERGING = 1,</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    READY_TO_FIRE = 2</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>} Target_State_e;</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>{</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    NO_TARGET_NUM = 0,</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    HERO1 = 1,</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    ENGINEER2 = 2,</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    INFANTRY3 = 3,</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    INFANTRY4 = 4,</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    INFANTRY5 = 5,</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    OUTPOST = 6,</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    SENTRY = 7,</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    BASE = 8</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>} Target_Type_e;</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
<div class="foldopen" id="foldopen00038" data-start="{" data-end="};">
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="struct_vision___recv__s.html">   38</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>{</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    Fire_Mode_e fire_mode;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    Target_State_e target_state;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    Target_Type_e target_type;</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keywordtype">float</span> pitch;</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <span class="keywordtype">float</span> yaw;</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>} <a class="code hl_struct" href="struct_vision___recv__s.html">Vision_Recv_s</a>;</div>
</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>{</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    COLOR_NONE = 0,</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    COLOR_BLUE = 1,</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    COLOR_RED = 2,</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>} Enemy_Color_e;</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>{</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    VISION_MODE_AIM = 0,</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    VISION_MODE_SMALL_BUFF = 1,</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    VISION_MODE_BIG_BUFF = 2</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>} Work_Mode_e;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>{</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    BULLET_SPEED_NONE = 0,</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    BIG_AMU_10 = 10,</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    SMALL_AMU_15 = 15,</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    BIG_AMU_16 = 16,</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    SMALL_AMU_18 = 18,</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    SMALL_AMU_30 = 30,</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>} Bullet_Speed_e;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
<div class="foldopen" id="foldopen00072" data-start="{" data-end="};">
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="struct_vision___send__s.html">   72</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>{</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    Enemy_Color_e enemy_color;</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    Work_Mode_e work_mode;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    Bullet_Speed_e bullet_speed;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keywordtype">float</span> yaw;</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keywordtype">float</span> pitch;</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keywordtype">float</span> roll;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>} <a class="code hl_struct" href="struct_vision___send__s.html">Vision_Send_s</a>;</div>
</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span><span class="preprocessor">#pragma pack()</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span></div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span><a class="code hl_struct" href="struct_vision___recv__s.html">Vision_Recv_s</a> *VisionInit(<a class="code hl_typedef" href="group___u_a_r_t___exported___types.html#ga5de4a49eb132735325e706f406c69d6e">UART_HandleTypeDef</a> *_handle);</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span></div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span><span class="keywordtype">void</span> VisionSend();</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span></div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span><span class="keywordtype">void</span> <a class="code hl_function" href="master__process_8c.html#a15c27cb9fdefbd03c7412875b2264089">VisionSetFlag</a>(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed);</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span></div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span><span class="keywordtype">void</span> <a class="code hl_function" href="master__process_8c.html#a5d73953facff68063ecc619222ac1b35">VisionSetAltitude</a>(<span class="keywordtype">float</span> yaw, <span class="keywordtype">float</span> pitch, <span class="keywordtype">float</span> roll);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span><span class="preprocessor">#endif </span><span class="comment">// !MASTER_PROCESS_H</span></div>
<div class="ttc" id="agroup___u_a_r_t___exported___types_html_ga5de4a49eb132735325e706f406c69d6e"><div class="ttname"><a href="group___u_a_r_t___exported___types.html#ga5de4a49eb132735325e706f406c69d6e">UART_HandleTypeDef</a></div><div class="ttdeci">struct __UART_HandleTypeDef UART_HandleTypeDef</div><div class="ttdoc">UART handle Structure definition.</div></div>
<div class="ttc" id="amaster__process_8c_html_a15c27cb9fdefbd03c7412875b2264089"><div class="ttname"><a href="master__process_8c.html#a15c27cb9fdefbd03c7412875b2264089">VisionSetFlag</a></div><div class="ttdeci">void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed)</div><div class="ttdoc">设置视觉发送标志位</div><div class="ttdef"><b>Definition</b> master_process.c:21</div></div>
<div class="ttc" id="amaster__process_8c_html_a5d73953facff68063ecc619222ac1b35"><div class="ttname"><a href="master__process_8c.html#a5d73953facff68063ecc619222ac1b35">VisionSetAltitude</a></div><div class="ttdeci">void VisionSetAltitude(float yaw, float pitch, float roll)</div><div class="ttdoc">设置发送数据的姿态部分</div><div class="ttdef"><b>Definition</b> master_process.c:28</div></div>
<div class="ttc" id="astruct_vision___recv__s_html"><div class="ttname"><a href="struct_vision___recv__s.html">Vision_Recv_s</a></div><div class="ttdef"><b>Definition</b> master_process.h:39</div></div>
<div class="ttc" id="astruct_vision___send__s_html"><div class="ttname"><a href="struct_vision___send__s.html">Vision_Send_s</a></div><div class="ttdef"><b>Definition</b> master_process.h:73</div></div>
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